/*

 MinIMU-9-Arduino-AHRS
 Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)

 Copyright (c) 2011 Pololu Corporation.
 http://www.pololu.com/

 MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
 http://code.google.com/p/sf9domahrs/

 sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
 Julio and Doug Weibel:
 http://code.google.com/p/ardu-imu/

 MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
 under the terms of the GNU Lesser General Public License as published by the
 Free Software Foundation, either version 3 of the License, or (at your option)
 any later version.

 MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
 more details.

 You should have received a copy of the GNU Lesser General Public License along
 with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.

 */
//#include <pololu/orangutan.h>

#include "MinIMU9AHRS.h"

//Computes the dot product of two vectors
float Vector_Dot_Product(float vector1[3], float vector2[3])
{
	float op = 0;

	int c;
	for (c = 0; c < 3; c++)
	{
		op += vector1[c] * vector2[c];
	}

	return op;
}

//Computes the cross product of two vectors
void Vector_Cross_Product(float vectorOut[3], float v1[3], float v2[3])
{
	vectorOut[0] = (v1[1] * v2[2]) - (v1[2] * v2[1]);
	vectorOut[1] = (v1[2] * v2[0]) - (v1[0] * v2[2]);
	vectorOut[2] = (v1[0] * v2[1]) - (v1[1] * v2[0]);
}

//Multiply the vector by a scalar.
void Vector_Scale(float vectorOut[3], float vectorIn[3], float scale2)
{
	int c;
	for (c = 0; c < 3; c++)
	{
		vectorOut[c] = vectorIn[c] * scale2;
	}
}

void Vector_Add(float vectorOut[3], float vectorIn1[3], float vectorIn2[3])
{
	int c;
	for (c = 0; c < 3; c++)
	{
		vectorOut[c] = vectorIn1[c] + vectorIn2[c];
	}
}

